Release update 2026-11-05: new sessions, instructions, annotations (part 57)

actions/locomanipulation/LM17/session_007/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdda6da93f36612023c2adc3ab06d5b56325160d26ccafb0d71776c05d9b6f5e
+size 570264

actions/locomanipulation/LM17/session_007/meta.json

@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9287167174876204
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.67,
+    "offset_rotvec": [
+     0.2645,
+     -0.1452,
+     0.1979
+    ],
+    "dev_deg": {
+     "median": 18.98,
+     "p90": 29.43
+    },
+    "samples": 2135,
+    "accepted": 1947,
+    "wrist_pos_err_mm_median": 169.7,
+    "per_camera": {
+     "head": {
+      "samples": 2135,
+      "accepted": 1947,
+      "gate_deg": 30.0,
+      "offset_deg": 20.67,
+      "tier": "primary",
+      "dev_deg_median": 18.98,
+      "wrist_pos_err_mm_median": 169.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8128,
+     "interpolated": 3744,
+     "mean_hand": 6,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.75,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.6,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 14.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 8.77,
+    "offset_rotvec": [
+     0.0873,
+     0.1257,
+     -0.0027
+    ],
+    "dev_deg": {
+     "median": 3.47,
+     "p90": 5.86
+    },
+    "samples": 2968,
+    "accepted": 2968,
+    "wrist_pos_err_mm_median": 75.3,
+    "per_camera": {
+     "head": {
+      "samples": 2968,
+      "accepted": 2968,
+      "gate_deg": 30.0,
+      "offset_deg": 8.77,
+      "tier": "primary",
+      "dev_deg_median": 3.47,
+      "wrist_pos_err_mm_median": 75.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11872,
+     "interpolated": 0,
+     "mean_hand": 6,
+     "no_body_fit": 6
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.82,
+     "smplx": 0.26
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.6,
+      "p90": 15.2
+     },
+     "registered": {
+      "median": 12.4,
+      "p90": 14.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:09:32.525848+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM17/session_007",
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260910/LM17/20260910_092439_session165"
+ },
+ "task": {
+  "primitive": "LM17",
+  "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
  }
 }

actions/locomanipulation/LM17/session_007/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae9d2a07f061380bad87e8ac37111d2455d4bd652b56374d5232c5ed64805c4
+size 3481373

actions/locomanipulation/LM17/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c0cef8733c5cd184d77249f70e714bf2870c611ff2ce9c61ded0a6361a05c28c
-size 4590614
+oid sha256:23a1e41f52eb365cd9c4728c7bee9a83b88e1cc13faf61c3048d7fb1c8a2475a
+size 8573655

actions/locomanipulation/LM17/session_008/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM17",
+ "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966533,
+   "video": "left_eye",
+   "video_t_start": 0.03864446123206444
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c8893cc0-787b-43d3-ac2e-342b15c55b8f",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 96.412,
+   "t_start": 0.0386,
+   "t_end": 96.4506,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_008/cameras/slam.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486075686e0ed0c20e3e50fa1379ba6ea0a92e7d58cca0546785e37c31dd96f3
+size 570522

actions/locomanipulation/LM17/session_008/meta.json

@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.19216227867757
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.0,
+    "offset_rotvec": [
+     0.3166,
+     -0.162,
+     0.1448
+    ],
+    "dev_deg": {
+     "median": 19.67,
+     "p90": 31.9
+    },
+    "samples": 1975,
+    "accepted": 1730,
+    "wrist_pos_err_mm_median": 175.7,
+    "per_camera": {
+     "head": {
+      "samples": 1975,
+      "accepted": 1730,
+      "gate_deg": 30.0,
+      "offset_deg": 22.0,
+      "tier": "primary",
+      "dev_deg_median": 19.67,
+      "wrist_pos_err_mm_median": 175.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7276,
+     "interpolated": 4044,
+     "mean_hand": 199,
+     "no_body_fit": 365
+    },
+    "observed_fraction": 0.9525,
+    "observed_fraction_of_valid": 0.9827,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.95,
+     "smplx": 0.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 12.1
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 11.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 4.56,
+    "offset_rotvec": [
+     0.0181,
+     0.0121,
+     -0.0765
+    ],
+    "dev_deg": {
+     "median": 3.3,
+     "p90": 7.19
+    },
+    "samples": 2878,
+    "accepted": 2878,
+    "wrist_pos_err_mm_median": 82.4,
+    "per_camera": {
+     "head": {
+      "samples": 2878,
+      "accepted": 2878,
+      "gate_deg": 30.0,
+      "offset_deg": 4.56,
+      "tier": "primary",
+      "dev_deg_median": 3.3,
+      "wrist_pos_err_mm_median": 82.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11512,
+     "interpolated": 0,
+     "mean_hand": 7,
+     "no_body_fit": 365
+    },
+    "observed_fraction": 0.9687,
+    "observed_fraction_of_valid": 0.9994,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 2.68,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.8,
+      "p90": 16.1
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 16.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:09:23.935926+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM17/session_008",
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260910/LM17/20260910_092637_session166"
+ },
+ "task": {
+  "primitive": "LM17",
+  "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
  }
 }

actions/locomanipulation/LM17/session_008/motions/hands_mano.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c83f72cf4d49a0d9e68beaae43ddc999be130af2010526d685f777d9e59ea620
+size 3428922

actions/locomanipulation/LM17/session_008/motions/smplx.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5124f1e772f3fad77968a3dd66a15c826ed39a2d409cc6fdf2446dde12124c63
-size 4468060
+oid sha256:cc1ac51a55549e98406e2ec23972187e756b71824b71126db941c193bd71ca36
+size 8315979

actions/locomanipulation/LM17/session_009/annotations.json

@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM17",
+ "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03984159512747487
+  }
+ ],
+ "episodes": [
+  {
+   "id": "04436370-4b2d-49b5-82dd-7a24d6973430",
+   "segment": "segment1",
+   "action": "LM17",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 104.54,
+   "t_start": 0.0398,
+   "t_end": 104.5798,
+   "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
+  }
+ ]
+}

actions/locomanipulation/LM17/session_009/meta.json

@@ -517,5 +517,9 @@
   "family": "locomanipulation",
   "primitive": "LM17",
   "source_session": "20260920/LM17/20260920_012959_session17"
+ },
+ "task": {
+  "primitive": "LM17",
+  "instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
  }
 }